Product Motion Trajectory Calculation Method, Device, Equipment and Storage Medium

Abstract

The present application discloses a method, apparatus, device, and storage medium for calculating the movement trajectory of a product. The method includes: obtaining the starting point, ending point, and radius of an arc segment of the product; determining the center of the arc segment and the radian value based on the starting point, ending point, and radius. According to the center of the circle and the radian value, calculate the movement trajectory of the center point of the product, so that under the control of the control mechanism, the center point moves along the movement trajectory. When all points on the arc segment pass through the processing device in sequence, the distance from the processing device is the same. By using the geometric characteristics of the arc segment in the embodiments of the present application, a target arc corresponding to the center point of the product is formed as the movement trajectory of the center point of the product during the processing of the product to be processed. When the product to be processed moves along the calculated movement trajectory under the control of the control mechanism, all points on its arc segment pass through the processing device at equal distances in sequence, thereby improving the processing efficiency and processing accuracy of the arc segment of the product to be processed.

Description

Technical Field

[0001] This application generally relates to the technical field of industrial product surface treatment, and particularly relates to a method, apparatus, device, and storage medium for calculating the movement trajectory of a product. Background Art

[0002] In industrial vision inspection, the method of keeping the camera stationary while the product moves is often adopted. For simple inspection requirements, the inspection can be completed by taking a single photo after the product arrives at the designated position. For complex inspection requirements, continuous photos need to be taken during the movement of the product, which places high requirements on the movement accuracy of the product.

[0003] For the vision inspection of the arc segment of a product, currently, the arc segment of the product is divided into multiple regions, and each region is inspected by taking a single photo.

[0004] For the existing segmented photo inspection, before each photo is taken, the product needs to stop in place, and then the photo can be taken, which makes the entire inspection process require multiple pauses, resulting in a long time consumption. In addition, due to the limitation of the number of photos taken, it is impossible to completely cover the entire arc segment, which will lead to the omission of the inspected area. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a method, apparatus, device, and storage medium for calculating the movement trajectory of a product, which can accurately calculate the movement trajectory of the center point of the product through the geometric characteristics of the arc segment, so as to improve the accuracy of industrial processing of the arc segment of the product.

[0006] In a first aspect, an embodiment of the present application provides a method for calculating the movement trajectory of a product, the method including:

[0007] Obtain the start point, end point, and radius of the arc segment of the product;

[0008] Based on the start point, the end point, and the radius, determine the center of the arc segment and the radian value.

[0009] According to the center of the circle and the radian value, calculate the movement trajectory of the center point of the product to be processed, so that under the control of the control mechanism, the center point moves along the movement trajectory, and when each point on the arc segment passes through the coverage range of the processing device in sequence, the distance between the processing device and the covered point remains unchanged.

[0010] In a second aspect, an embodiment of the present application provides a movement trajectory calculation device, the device including:

[0011] An obtaining module, configured to obtain the start point, end point, and radius of the arc segment of the product;

[0012] A determining module, configured to determine the center of the arc segment and the radian value based on the start point, the end point, and the radius;

[0013] A calculation module, configured to calculate the movement trajectory of the center point of the product to be processed according to the center of the circle and the radian value, so that under the control of the control mechanism, the center point of the product to be processed moves along the movement trajectory, and when each point on the arc segment passes through the coverage range of the processing device in sequence, the distance between the processing device and the covered point remains unchanged.

[0014] In a third aspect, an embodiment of the present application provides a device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the product movement trajectory calculation method as described in the first aspect above.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is used to implement the product movement trajectory calculation method as described in the first aspect above.

[0016] The product movement trajectory movement method, device, equipment, and storage medium provided by the embodiments of the present application obtain the starting point, ending point, and radius of the arc segment of the product to be processed, and then utilize the geometric characteristics of the arc segment to form a target arc corresponding to the center point of the product according to the obtained starting point, ending point, and radius, as the movement trajectory of the center point of the product during the processing process of the product to be processed. When the product to be processed moves along the calculated movement trajectory under the control of the control mechanism, all points on its arc segment pass through the processing device at equal distances in sequence, thereby improving the processing efficiency and processing accuracy of the arc segment of the product to be processed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objectives, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0018] Figure 1 A schematic diagram of the product arc to be detected according to an embodiment of the present application is shown;

[0019] Figure 2 A flowchart of the product movement trajectory calculation method according to an embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram of the product arc segment according to an embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram of the center of the circle of the product arc segment according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of the product movement trajectory according to an embodiment of the present application is shown;

[0023] Figure 6 The figure shows a schematic diagram of the product moving along the motion trajectory in the embodiment of the present application;

[0024] Figure 7 The figure shows a schematic diagram of the structure of the product motion trajectory calculation device in the embodiment of the present application;

[0025] Figure 8 It is a schematic diagram of the structure of the computer system of the terminal device in the embodiment of the present application. Detailed implementation manners

[0026] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related disclosure, rather than limiting the disclosure. Additionally, it should be noted that for the sake of description, only the parts related to the disclosure are shown in the drawings.

[0027] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0028] In industrial vision inspection, generally, the camera is stationary while the product moves to collect images of the product surface.

[0029] For the vision inspection of the arc segment of the product, due to the curved surface characteristics of the arc segment, the inspection method is difficult. For example, it is divided into regions for inspection, that is, step-by-step image collection is performed for each region, and then the images collected each time are stitched together to obtain the surface image of the entire arc segment region.

[0030] It can be understood that in this process, as long as the position of each freeze-frame photographing point is accurate when the product moves, and the motion mode from one position to the next is not limited.

[0031] For example, as Figure 1 shown, when it is necessary to detect the defects of the arc segment of the mobile phone. Then, an arc segment of the mobile phone is divided into three regions, and one region is detected each time of photographing. As long as the distance from the arc segment to the camera is consistent with the focal length of the camera at each photographing point, clear images can be taken.

[0032] Obviously, for this step-by-step image collection for different regions, when photographing each region, the product needs to stop moving after arriving at the position to complete the image collection, which will ultimately make the detection process time-consuming. And because the segmented regions are limited, it may cause the detection region to be missed, ultimately affecting the detection accuracy.

[0033] In view of the above defects, in the embodiments of the present application, in order to improve the detection efficiency and ensure the detection accuracy, when performing visual inspection on the arc section of a product, the motion trajectory during the detection process of the product is accurately calculated through the geometric characteristics of the arc section, so that during the motion process of the product for visual inspection, when each point of the arc section passes through the image acquisition device, the distance between the points covered within the coverage range of the image acquisition device and the processing device remains constant all the time, ensuring the continuity of the product during the motion process without pausing.

[0034] It can be understood that this motion trajectory is the motion trajectory of the center point of an industrial product after it is fixed on a control mechanism, such as the motor shaft. It can also be understood as the motion trajectory of the axis of the motor shaft that coincides with the center point of the industrial product under the control of the motor shaft.

[0035] For example, Figure 1 For the mobile phone case shown, the calculated motion trajectory is the motion trajectory of the center point of the mobile phone case after it is fixed on a control mechanism, such as the motor shaft, during the visual inspection process of the arc section, that is, the motion trajectory of the axis of the motor shaft that coincides with the center point.

[0036] It can be understood that during the visual inspection process of an industrial product under the control of a control mechanism, when its center point moves along the motion trajectory, it can ensure that the distance between all points of its arc section and the image acquisition device remains consistent when passing through the image acquisition device, so that during the continuous motion process of the industrial product, each point on its arc section passes through the image acquisition device in sequence, enabling the image acquisition device to perform image acquisition on the arc section in sequence.

[0037] For example, Figure 1 and Figure 6 As shown, when the mobile phone case takes point O as the center point, that is, when the mobile phone case rotates around this center point by controlling the motor shaft, the arc section can start from the starting point A and gradually pass through the image acquisition device until the end point B passes through the image acquisition device, that is, each point on the arc section AB traverses through the photographing field of view in sequence, enabling the image acquisition device to continuously take pictures continuously to complete the image acquisition of the entire arc section, that is, each captured photo can be used for detection and judgment.

[0038] It can also be understood that for the surface treatment of products in the industrial field, such as product surface coating and painting, etc., when the product surface has an arc characteristic, the above method can also be used, that is, during the product surface treatment process, the distance between the product surface and the processing device, such as a film wrapping machine or a painting machine, etc., is kept consistent all the time, so that the effect of the surface treatment process can reach the best, such as characteristics like flatness, and the surface treatment efficiency can be improved.

[0039] That is, the product trajectory motion calculation method provided by the present application can be used in various scenarios such as visual inspection of the product surface and process treatment, that is, it can be used in scenarios where a device needs to traverse the arc of the product surface.

[0040] To better understand the product motion trajectory calculation method provided by the embodiments of the present application, the following will be Figures 2 to 6 elaborated in detail.

[0041] Figure 2 The following is a schematic flow chart of the product motion trajectory calculation method provided by the embodiments of the present application. As shown in the figure, the method specifically includes:

[0042] S110, obtain the starting point, ending point, and radius of the arc segment of the product to be processed.

[0043] Specifically, for the product to be processed, first, the starting point coordinates, ending point coordinates, and radius value of the arc segment of the product to be processed can be obtained.

[0044] The product to be processed can be an industrial product whose surface needs to be inspected or processed. Its surface has an arc segment of a certain length, and this arc segment has a starting point, an ending point, a center, and a corresponding radian value.

[0045] This radian value is the value of the central angle corresponding to the arc with the radius length of this arc segment in radian measure.

[0046] In the scenario of the embodiments of the present application, it is necessary to perform damage detection on the surface of this industrial product, such as image acquisition through machine vision, or perform surface treatment, such as coating and other processes.

[0047] For example, Figure 1 For an industrial product such as a mobile phone case shown in the figure, its surface has an arc AB. Then when visual inspection of this industrial product is required, first, the starting point coordinates, ending point coordinates, and radius of each arc can be determined.

[0048] For example, Figure 3 As shown in the figure, determine the starting point A of this arc segment, the ending point B of this arc segment, and the radius value of this arc segment.

[0049] Optionally, in some embodiments, the starting point and ending point positions of the arc segment can be found from the CAD drawing of the product, and the radius size value of the arc segment can be confirmed from the product specification definition.

[0050] Furthermore, after determining the starting point, ending point, and radius of the arc segment, the center and radian value of the arc segment of the product to be processed can be determined.

[0051] S120, determine the center position and radian value of this arc segment according to this starting point, ending point, and radius.

[0052] Specifically, after determining the starting point, ending point, and radius of the arc segment of the product to be processed, two circles can be formed respectively with the starting point and the ending point of the arc segment as the centers and the radius value of the arc segment as the radius, that is, a first arc with the starting point as the center and a second arc with the ending point as the center are formed. The first arc and the arc will intersect at a point, and this intersection point is the center of the arc segment of the product to be processed, that is, the intersection point of the first arc and the second arc is used as the center of the arc segment of the product to be processed.

[0053] For example, as Figure 4 shown, a blue circle is drawn with the starting point A of the arc segment as the center, and a red circle is drawn with the ending point B of the arc segment as the center. The two circles intersect at point C, and this point is the center C of the arc segment.

[0054] Furthermore, after determining the center of the arc segment of the product to be processed, the radian value of the arc segment can be determined.

[0055] Specifically, first, a first side line passing through the starting point and the center of the arc segment of the product to be processed can be formed, and then a second side line passing through the ending point and the center of the arc segment of the product to be processed can be formed. Then, the included angle between the first side line and the second side line facing the arc segment is used as the radian value.

[0056] For example, as Figure 4 shown, the first side line CA and the second side line CB are formed, and then the magnitude of the radian value, that is, the magnitude of ∠ACB, is measured.

[0057] It can be understood that after obtaining the center position of the arc segment of the product to be processed and the radian value through the above steps, the movement trajectory of the center point of the product to be processed during the processing can be calculated. For example, in visual inspection, image acquisition of the arc segment, or in surface treatment, surface processing of the arc segment, so that during the movement of the industrial product along the calculated movement trajectory, when each point on its arc segment passes through the processing device in sequence, the distance between each point and the processing device, such as an image acquisition device or a surface treatment device, always remains the same, thereby quickly achieving the industrial purpose, that is, each point on the arc segment of the product to be processed passes through the processing device at a constant distance.

[0058] S130. According to the center and the radian value, calculate the movement trajectory of the center point of the product to be processed, so that under the control of the control mechanism, the center point moves along the movement trajectory. When each point on the arc segment passes through the coverage range of the processing device in sequence, the distance between the processing device and the covered point remains unchanged.

[0059] Specifically, in this step, the movement trajectory of the axis can be calculated through the center of the arc segment and the center point of the product to be processed.

[0060] That is, the center of the arc segment can be used as the target center, and the distance between the center point of the product to be processed and the center of the arc segment can be used as the radius to form a target arc, so that the target arc serves as the movement trajectory of the center point of the product.

[0061] It can be understood that the center point of the product to be processed is the exact center of the product to be processed, that is, the position where the axis of the control mechanism is located, such as the position where the axis of the rotating shaft of the control motor is located.

[0062] Taking the mobile phone case in the above embodiment as an example, as Figure 5 shown, O is the exact center of the product to be processed, that is, the center point, which is also the position where the axis of the rotating shaft of the control motor is located.

[0063] For example, as Figure 5 shown, the center C of the arc segment can be used as the center, and CO can be used as the radius to draw the target arc POS.

[0064] It can be understood that when the center point of the product to be processed moves along the target arc, due to the geometric characteristics of the arc segment, the distance between each point of the arc segment of the product to be processed and the processing device can be made consistent when passing through the processing device, that is, the distance between all points when entering the processing area of the processing device, such as the acquisition area of the image acquisition device, is consistent with the image acquisition device.

[0065] For example, when the center point O of the mobile phone case moves along the target arc POS, the arc segment AB on it starts from the starting point A and passes through the image acquisition device in turn to the end point B. Then, when each point enters directly in front of the image acquisition device, the distance from the image acquisition device always remains the same.

[0066] It can be understood that in the above embodiment, when the center point of the product to be processed moves along the target arc as the movement trajectory, in order to ensure that the entire arc segment can be covered by the processing device and avoid missing the areas at both ends, the radian value of the target arc can be made as large as possible compared to the radian value of the product to be processed.

[0067] However, in this case, the straight line parts at both ends of the arc segment may be covered by the processing device, or one of the straight line parts at one end may be covered by the processing device while the arc segment area at the other end is missed.

[0068] In this application, in order to further accurately plan the movement trajectory of the center point of the product to be processed, that is, to accurately locate the two endpoints of the target arc, so as to improve the accuracy and efficiency of product surface treatment, the radian value of the target arc can be made the same as the radian value of the arc segment of the product to be processed. Thus, in the actual processing process, the arc segment of the product to be processed can be gradually and accurately moved to the coverage area of the processing device from the starting point to the end point.

[0069] For example, asFigure 6 As shown, the formed target arc OP is such that ∠OCP = ∠ACB. The arc OP is the movement trajectory of the center point of the product, that is, the movement trajectory of the shaft.

[0070] Then, when the center point of the product to be processed starts from point O and moves with the target arc OP as the movement estimate, the starting point A of the arc segment enters the coverage area of the processing device, and then gradually passes through the coverage area of the processing device. When the center point of the product to be processed moves to the end point P of the target arc, the end point B of the processed product moves to the coverage area of the processing device, completing the processing of the entire arc segment.

[0071] It can be understood that in the visual inspection scenario, in the embodiments of the present application, through the CAD drawing of the product arc segment, the movement trajectory of the shaft is gradually calculated, so that during the movement of the shaft, the distance between the product arc segment and the camera is constant, which is convenient for the camera to continuously take pictures for industrial visual inspection. This method solves the problems of long detection time, low detection accuracy, and poor imaging effect during the detection of the product arc segment, and improves the detection efficiency and accuracy.

[0072] In practice, when the target arc OP is determined through geometric characteristics, the movement equation of the center point of the product to be processed can be further calculated, that is, the mathematical expression of the OP arc segment when the shaft is controlled by the motor to move along the arc OP. This movement equation is used to control the axis center of the control mechanism of the product to be processed.

[0073] Optionally, the movement points on the movement trajectory can be calculated in the coordinate system established with the shaft as the origin, as Figure 6 shown, that is, the movement equation uses the expression of the OP arc segment in the coordinate system established with the shaft C as the origin.

[0074] In the embodiments of the present application, through the geometric characteristics of the product arc segment, the movement trajectory of the shaft is gradually calculated, so that during the movement of the shaft, the distance between the product arc segment and the processing device is constant, which is convenient for the processing device to continuously process, such as the image acquisition device to continuously take pictures for industrial visual inspection, solving the problems of long processing time, low processing accuracy, and poor processing effect during the processing of the product arc segment, and improving the processing efficiency and accuracy.

[0075] On the other hand, as Figure 7 shown, the embodiments of the present application provide a product movement estimation calculation device, and this device 700:

[0076] An acquisition module 710, configured to acquire the starting point, the ending point, and the radius of the arc segment of the product to be processed;

[0077] A determination module 720, configured to determine the center of the arc segment and the radian value based on the starting point, the ending point, and the radius.

[0078] A calculation module 730, configured to calculate a movement trajectory of a center point of the product to be processed according to the center of the circle and the radian value, so that under the control of a control mechanism, the center point moves along the movement trajectory, and when all points on the arc segment pass through a processing device in sequence, the distance from the processing device is the same.

[0079] Optionally, for the product movement trajectory calculation device provided in an embodiment of the present application, the calculation module is specifically configured to:

[0080] The center of the arc segment is a target center of the circle, and the distance between the center point of the product to be processed and the center of the arc segment is used as a radius to form a target arc, and the target arc is used as the movement trajectory of the center point of the product.

[0081] Optionally, for the product movement trajectory calculation device provided in an embodiment of the present application, the radian value of the target arc is the same as the radian value of the arc segment.

[0082] Optionally, for the product movement trajectory calculation device provided in an embodiment of the present application, the calculation module is specifically configured to:

[0083] Calculate a movement equation of the center point of the product to be processed according to the target arc, and the movement equation is used to control the axis of the control mechanism of the product to be processed.

[0084] Optionally, for the product movement trajectory calculation device provided in an embodiment of the present application, the determination module 720 includes:

[0085] A first determination unit 721, configured to form a first arc centered at the starting point and a second arc centered at the ending point, respectively, with the radius of the arc segment as the radius, and the intersection of the first arc and the second arc is used as the center of the arc segment of the product to be processed.

[0086] Optionally, for the product movement trajectory calculation device provided in an embodiment of the present application, the determination module 720 includes:

[0087] A second determination unit 722, configured to form a first side line passing through the starting point and the center of the arc segment of the product to be processed;

[0088] A third determination unit 723, configured to form a second side line passing through the ending point and the center of the arc segment of the product to be processed, and the included angle of the first side line and the second side line facing the arc segment is used as the radian value.

[0089] On the other hand, an embodiment of the present application further provides a computer processing device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor is configured to implement the product movement trajectory calculation method provided in the above embodiment when executing the program.

[0090] The following refers to Figure 8 , Figure 8 a schematic structural diagram of the computer system of the terminal device according to an embodiment of the present application.

[0091] As Figure 8 shown, the computer system includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage section 303 into the random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the system 300 are also stored. The CPU 301, ROM 302, and RAM 303 are connected to each other via a bus 304. The input / output (I / O) interface 305 is also connected to the bus 304.

[0092] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. The drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed so that a computer program read from it can be installed into the storage section 308 as needed.

[0093] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program includes program codes for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 303, and / or installed from the removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, the above functions defined in the system of the present application are executed.

[0094] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device. And in this application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram can represent a module, a program segment, or a part of code, and the foregoing module, program segment, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0096] The units or modules involved in the embodiments of the present application can be implemented in software or in hardware. The described units or modules can also be provided in a processor. For example, it can be described as: a processor, including: an acquisition module, a determination module, and a calculation module. Among them, the names of these units or modules do not constitute a limitation to the units or modules themselves in some cases. For example, the calculation module can also be described as "used to calculate the movement trajectory of the center point of the product to be processed according to the center of the circle and the radian value, so that under the control of the control mechanism, the center point moves along the movement trajectory, and when all points on the arc segment pass through the processing device in sequence, the distance from the processing device is consistent."

[0097] As another aspect, the present application also provides a computer-readable storage medium, which can be included in the electronic device described in the above embodiments; or can exist alone without being assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above-mentioned programs are executed by one or more processors to perform the product movement trajectory calculation method described in the present application:

[0098] Obtain the start point, end point, and radius of the arc segment of the product to be processed;

[0099] Based on the start point, the end point, and the radius, determine the center of the circle and the radian value of the arc segment.

[0100] According to the center of the circle and the radian value, calculate the movement trajectory of the center point of the product to be processed, so that under the control of the control mechanism, the center point moves along the movement trajectory, and when each point on the arc segment passes through the coverage range of the processing device in sequence, the distance between the processing device and the covered point remains unchanged.

[0101] In summary, the product movement trajectory calculation method, device, equipment, and storage medium provided by the embodiments of the present application obtain the start point, end point, and radius of the arc segment of the product to be processed, and then utilize the geometric characteristics of the arc segment to form a target arc corresponding to the center point of the product according to the obtained start point, end point, and radius as the movement trajectory of the center point during the processing of the product to be processed. When the product to be processed moves along the calculated movement trajectory under the control of the control mechanism, all points on its arc segment pass through the processing device at equal distances in sequence, thereby improving the processing efficiency and processing accuracy of the arc segment of the product to be processed.

[0102] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the foregoing disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the present application that have similar functions.

Claims

1. A method for calculating the movement trajectory of a product, characterized in that, the method includes: obtaining the starting point, ending point and radius of an arc segment of the product to be processed; determining the center of the arc segment and the radian value based on the starting point, the ending point and the radius; calculating the movement trajectory of the center point of the product to be processed according to the center of the circle and the radian value, so that under the control of the control mechanism, the center point moves along the movement trajectory, and when each point on the arc segment passes through the coverage range of the processing device in sequence, the distance between the processing device and the covered point remains unchanged.

2. The method for calculating the movement trajectory of a product according to claim 1, characterized in that, the calculating the movement trajectory of the center point of the product to be processed according to the center of the circle and the radian value includes: using the center of the arc segment as the target center of the circle, and the distance between the center point of the product to be processed and the center of the arc segment as the radius to form a target arc, and using the target arc as the movement trajectory of the center point of the product.

3. The method for calculating the movement trajectory of a product according to claim 2, characterized in that, the radian value of the target arc is the same as the radian value of the arc segment.

4. The method for calculating the movement trajectory of a product according to claim 2 or 3, characterized in that, the method further includes: calculating the movement equation of the center point of the product to be processed according to the target arc, and the movement equation is used to control the axis of the control mechanism of the product to be processed.

5. The method for calculating the movement trajectory of a product according to any one of claims 1-3, characterized in that, the determining the center of the arc segment based on the starting point, the ending point and the radius includes: respectively using the starting point and the ending point as the centers of the circles, and using the radius of the arc segment as the radius to form a first arc with the starting point as the center and a second arc with the ending point as the center, and using the intersection point of the first arc and the second arc as the center of the arc segment of the product to be processed.

6. The method for calculating the movement trajectory of a product according to claim 4, characterized in that, the determining the radian value of the arc segment of the product to be processed based on the starting point, the ending point and the radius includes: forming a first side line passing through the starting point and the center of the arc segment of the product to be processed; forming a second side line passing through the ending point and the center of the arc segment of the product to be processed, and using the included angle between the first side line and the second side line facing the arc segment as the radian value.

7. A device for calculating the movement trajectory of a product, characterized in that, the device includes: an obtaining module, configured to obtain the starting point, ending point and radius of an arc segment of a product; a determining module, configured to determine the center of the arc segment and the radian value based on the starting point, the ending point and the radius; A calculation module, configured to calculate the movement trajectory of the center point of the product to be processed according to the center of the circle and the radian value, so that under the control of the control mechanism, the center point of the product moves along the movement trajectory, and when each point on the arc segment passes through the coverage range of the processing device in sequence, the distance between the processing device and the covered point remains unchanged.

8. The product movement trajectory calculation according to claim 6, wherein, the calculation module is specifically configured to: The center of the arc segment is the target center of the circle, and the distance between the center point of the product and the center of the arc segment is the radius, forming a target arc, and the target arc is used as the movement trajectory of the center point of the product, and the radian value of the target arc is the same as the radian value of the arc segment.

9. A computer processing device, wherein, the processing device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor is configured to implement the product movement trajectory calculation method according to any one of claims 1-6 when executing the program.

10. A computer-readable storage medium, on which a computer program is stored, and the computer program is configured to implement the product movement trajectory calculation method according to any one of claims 1-6.

Images